#ifndef __GAIT_H__
#define __GAIT_H__


#include "leg.h"
typedef enum
{
    GAIT_DIY,
	GAIT_SWING_LINE,
    GAIT_TRIANGLE,
    GAIT_RECTANGLE,
    GAIT_CIRCLE,
	GAIT_WALK_HALFCIRCLE
} Gait_e;

void Trot_Body(Gait_e gait, float forward_spd, float rotate_spd, float phase);
float Quadraped_GetPhase(int period);
void Trot_Leg(Gait_e gait, Leg_index_e leg_index, double phase);
void Walk_Body(Gait_e gait, float forward_spd, float rotate_spd, float phase);

void Stand_Body(void);
#endif
